satoshi shimada
/
mbed_mpu6050_i2c_raw_register
MPU-6050 sample code
mpu6050.h
- Committer:
- satoshi1204
- Date:
- 2018-12-13
- Revision:
- 3:ebd656a9c89f
- Parent:
- 1:6f743fe9a027
File content as of revision 3:ebd656a9c89f:
#include "mbed.h" #ifndef MPU6050_H #define MPU6050_H enum { MAX_ACC_2G, MAX_ACC_4G, MAX_ACC_8G, MAX_ACC_16G, }; enum { MAX_GYRO_250degpersec, MAX_GYRO_500degpersec, MAX_GYRO_1000degpersec, MAX_GYRO_2000degpersec, }; class MPU6050 { public: MPU6050(PinName i2c_sda, PinName i2c_scl); ~MPU6050(); void readAccelemeter(double &acc_x, double &acc_y, double &acc_z); void readGyroscope(double &gyro_x, double &gyro_y, double &gyro_z); void setMaxScale(int max_acc, int max_gyro); void getMaxScale(int &acc, int &gyro); void setSleep(bool sleep); private: I2C i2c; int address; double rate_accelemeter; double rate_gyroscope; char readByte(char reg); void writeByte(char reg, char data); }; #endif // MPU6050_H